EP3311119A1

EP3311119A1 - Control circuit and method for checking the plausibility of a rotor position angle

Info

Publication number: EP3311119A1
Application number: EP16727687.2A
Authority: EP
Inventors: Michael Ungermann; Benjamin LECHNER; Daniel Zirkel; Daniel Raichle
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2015-06-18
Filing date: 2016-06-07
Publication date: 2018-04-25
Anticipated expiration: 2036-06-07
Also published as: WO2016202625A1; EP3311119B1; US10775209B2; CN107709934B; CN107709934A; DE102015211194A1; US20180180454A1

Abstract

The present invention provides a control circuit (10; 110; 210; 310) and a method for checking the plausibility of a rotor position angle. The control circuit is designed with: a rotor position angle determination device (12) for determining a first rotor position angle, φ(t_k), at a first time, t_k, and at least one second rotor position angle, φ(t_k-1), at a second time, t_k-1, before the first time, t_k; a computing device (14; 114; 214; 314) for determining a rotor position angle, φ_mod(t_k), to be expected at the first time, t_k, from a computational model of the computing device (14; 114; 214; 314) using at least the second rotor position angle, φ(t_k-1); and a plausibility-checking device (16) for outputting a signal (51) which indicates the determined first rotor position angle, φ(t_k), as plausible if an amount of a difference between the rotor position angle, φ_mod(t_k), to be expected and the determined first rotor position angle, φ(t_k), does not exceed a predetermined threshold value.

Description

Description title

Control circuit and method for plausibility checking of a rotor position angle

The present invention relates to a control circuit and method for plausibility of a rotor position angle, in particular a rotor position angle, which is determined by a rotor position sensor, which has a

Dead-time compensated raw angle determined. The rotor position angle is in particular an angle in which a rotor of a

Synchronous machine or an asynchronous machine is aligned. The synchronous machine may be, for example, a permanent-magnet or an electrically excited synchronous machine.

State of the art

For the control of permanent-magnet synchronous machines and electrically excited synchronous machines, as used for example in hybrid and

Electric vehicles are used, the knowledge of the rotor position angle is necessary. This is also referred to as the rotor angle or angle of rotation and often receives the mathematical symbol cp _el . To determine the

Rotor position angles are known from various sensor types, for example digital angle encoder signals, resolvers, or sensors based on the eddy current effect.

For example, German patent application D E 10 2011 078 583 A1 discloses an evaluation of resolver sensor signals in a vehicle. A resolver receives a rotational movement of a rotor for this purpose, and a processor element processes the sinusoidal or cosinusoidal output signals of the resolver.

A plausibility check of the determined rotor position angle is due to the

Meaning that belongs to the rotor position angle, desirable. Disclosure of the invention

The present invention discloses a control circuit having the features of claim 1 and a method having the features of

Patent claim 6.

Accordingly, a control circuit for plausibilizing a rotor position angle is provided, comprising: a rotor position angle determination device for determining a first rotor position angle, (p (t _fc ), at a first time, t _k ,

in particular from detected first measured variables, and at least one second rotor position angle φ ^^), at a second time, t _k -i before the first time, t _k , in particular from detected second measured variables; one

Calculating means for determining a rotor _{attitude angle} to be expected at the first point in time, t _k , from a mathematical model of

Calculating means using at least the second

Rotor position angle, φ ^^); and a plausibility checker for outputting a signal indicative of the determined first rotor attitude angle (p (t _k ) as plausible if an amount of a difference between the expected

_Rotor position _angle <p _m0 d (£ / <) _> and the determined first rotor position angle (p (t _k ) does not exceed a predetermined threshold.

The expected rotor angle can also be referred to as a prognosis or estimate for the first rotor angle to be determined.

The invention further provides a method for plausibility of a

Rotor position angle, comprising the steps of: determining a first rotor position angle, (p (t _fc ), at a first time, t _k , in particular from detected first

Measured variables; Determining at least a second rotor position angle, φ ^^), at a second time, tu, before the first time, t _k , in particular from detected second measured variables; Determining a at the first time, t _k, the expected rotor position angle <p _m0 d (£ / _<)> from a computer model using at least the second rotor position angle, φ ^^); and outputting a signal indicative of the determined first rotor attitude angle, cp (£ _fc ), as being plausible if an amount of a difference between the expected _Rotor position _angle , <p _m0C f (tfc), and the determined first rotor position angle, cp (t _k ), does not exceed a predetermined threshold.

The determination of a first, second or third rotor position angle can, in particular, include the acquisition of measured variables and calculation of the

Include or consist of rotor position angle based on the detected measurements. Exemplary measured variables include time, a magnetic field, an electric field, a voltage, a resistance and the like.

It should be understood that the method according to the invention can be carried out continuously. That is, after a first execution of the method, wherein the determined first rotor position angle was plausibilized at the first time, to validate a fourth rotor position angle at a fourth time, which is after the first time, the fourth time in the method in place of the first Timing occurs and the first time in the process takes the place of the second time, and so on each time the method is performed. The same applies analogously to the control circuit according to the invention.

A plausibility check of a rotor position angle is intended, in particular, to indicate a grading of the rotor position angle as plausible, i. be understood as sufficiently credible or acceptable.

Advantages of the invention

In good case, that is to say in agreement of the expected

Rotor position angle at the first time with the first determined

Rotor attitude angle is the amount of difference between these two sizes zero. Thus, in the case of good, the distance of this amount to the predetermined threshold, to which the rotor position angle is to be indicated as plausible, maximum.

Thus, missed faults and false alarms can be checked in plausibility of the rotor attitude angle, i. incorrect indexing of an incorrectly determined

Rotor position angle as plausible and incorrect indexing of a correctly determined rotor position angle as implausible, reduce or avoid. The determined rotor position angle can advantageously be based on detected measured variables which have been preprocessed and / or filtered, for example, by means of a phase locked loop and / or a state variable filter for obtaining the rotor position angle. Thus, in the plausibility of the

Rotor position angle, the dynamic behavior of preprocessing, such as through the phase locked loop or the state variable filter, also plausibility. In particular, from a not indicated as plausible rotor position angle, or an implausibly indicated rotor position angle, on a disengagement, that is leaving a rest position, the phase locked loop or the

State variable filters are closed. Thus, indexing the rotor attitude angle may be considered plausible or implausible to monitoring a control difference of the state variable filter.

A phase-locked loop, also referred to as an English phase-locked loop (PLL), is an electronic circuit arrangement which affects the phase position and, consequently, the frequency of a variable oscillator via a closed loop so that the phase deviation between an external reference signal and the oscillator or a from that

derived signal is as constant as possible.

In addition, the control circuit according to the invention and the inventive method are much less susceptible to noise and interference than conventional

Control circuits and methods of the prior art.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures.

According to an advantageous development, the rotor position angle determining device for determining a third rotor position angle (p (t _k _ ₂ ) at a third time t _k -2 is formed before the second time t _k -i and the computing device for determining the at the first time t _k expected rotor position _angle <p _m0 d (t _fc ) from the _calculation model below

Use of the second rotor position angle φίί ^ ^) and the third

Rotor position angle (p (t _k _ ₂ ) formed.) Thus, an increased amount of Values for determining the expected rotor position angle can be taken into account, whereby the accuracy of the determination can be improved.

According to a further advantageous development, the computing model of the computing device is designed such that the determination of the first

Time point to be expected rotor position _angle <p _m0 d (t _fc ) from the _calculation model based on a difference between the second rotor position angle φ ^^) and the third rotor position angle (p (t _k _ ₂ ) divided by a difference between the second time tu and the third time t _k . ₂ multiplied by a difference from the first time t _k and the second time tu based.

In particular, the determination is based on a sum of said difference and the determined second rotor position angle. Thus, the expected rotor position angle can be determined even more accurately.

According to a further advantageous development, the computing model of the computing device comprises a kinematic model of a drive train within a Luenberger observer. By using additional system quantities, such as a torque, a quality of the by means of the

_{Computational} model certain, expected rotor position _angle <p _m0 d (t _fc ) can be further improved, as well as changes in the rotational frequency and / or their cause can be considered.

According to a further advantageous refinement, the rotor position angles, in particular the first, second and third rotor position angles, are determined from detected measured variables using a state variable filter and / or a phase locked loop. The state variable filter can be used to filter

Angle signals, which a determined first, second or third

Rotor position angle index, be formed with a nth-order PTn member and based on state variables.

Brief description of the drawings

The present invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures of the drawings. Show it: Fig. 1 is a schematic block diagram for explaining a control circuit according to an embodiment of the present invention;

FIG. 2 is a schematic block diagram for explaining a control circuit according to another embodiment of the present invention; FIG.

3 is a schematic block diagram for explaining a control circuit according to another embodiment of the present invention;

4 is a schematic block diagram for explaining a control circuit according to another embodiment of the present invention;

5 is a schematic flowchart for explaining a plausibility-checking method of a rotor posture angle according to still another embodiment of the present invention;

6 is a schematic flowchart for explaining a plausibility-checking method of a rotor posture angle according to still another embodiment of the present invention;

7 is a schematic flowchart for explaining a method for plausibilizing a rotor attitude angle according to another embodiment of the present invention; and

8 is a schematic flowchart for explaining a method for plausibilizing a rotor attitude angle according to still another embodiment of the present invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - provided with the same reference numerals. The numbering of method steps is for the sake of clarity and, in particular, should not, unless otherwise indicated, imply a particular chronological order. In particular, several can

Procedural steps are carried out simultaneously. Description of the embodiments

Fig. 1 shows a schematic block diagram for explaining a

Control circuit 10 according to an embodiment of the present invention.

The control circuit 10 comprises a rotor position angle determination device 12, by means of which a first rotor position angle (p (t _k ) at a first time, t _k and at least one second rotor position angle φ ^^) can be determined at a second time t _k -i. Preferably, by means of the rotor position angle

Detection device 12 any number of rotor position angles determined sequentially. The determined rotor position angles are in the

Rotor position angle detection device 12 and / or in an optional

Memory device of the control circuit 10 storable.

In the present example, time points are numbered consecutively by the index "k" so that the time t _k -i is before the first time t _k , which in turn is before a time t _{k + i} and so on Times tu, _tk , _{tk + i,} etc. are separated from each other by a time duration which is exactly equal, or an integer multiple, of a minimum time duration which is between two determinations of a rotor attitude angle according to the rotor attitude angle detection means 12. With others Words, the time is preferably divided into such small time intervals between times t _k as the rotor position angle detection means 12 can resolve

different times at which they are determined, characterized. The rotor position angle detection device 12 may be formed, for example, as a resolver or as a sensor based on the eddy current effect. The control circuit 10 further comprises a computing device 14, by means of which a to be expected at the first time e rotor position _angle <p _m0 d (t _fc ) from a computing model of the computing _device 14 using at least the second rotor position angle φ ^^) can be determined. In a simple case, the calculation model can be designed such that the rotor position _angle <p _m0 d (t _fc ) to be expected at the time e is exactly the second one Rotor position angle φ ^^) corresponds, which is the temporally immediately preceding determined rotor position angle.

The control circuit 10 further comprises a plausibility check device 16, by means of which a signal 51 can be plausibly indexed to the determined first rotor position angle (p (t _k ), if an amount of a difference between the expected rotor position _angle <p _m0C f (tfc), and the determined first rotor position angle (p (t _k ) does not exceed a predetermined threshold value S.

That is, the signal 51 is output by the plausibility checker 16 if | (t _fc ) - <t _fc _i) | <S \.

Fig. 2 is a schematic block diagram for explaining a

Control circuit 110 according to another embodiment of the present invention.

The control circuit 110 is a variant of the control circuit 10 and differs therefrom in the configuration of the computing device 114 of the control circuit 110.

In the control circuit 110, the rotor position angle determination device 12 is designed to determine at least one third rotor position angle (p (t _k _ ₂ ) at a third time t _k -2 before the second time t _k -i

_{Computing device} 114 is for determining the to be expected at the first time, t _k , rotor position _angle <p _m0 d (t _fc ) from the _calculation model below

Use of the second rotor position angle φίί ^ ^) and the third

Rotor position angle (p (t _k _ ₂ ) formed.

The computational model of the computing device 14 is designed such that the determination of the rotor position angle (p _mod (t _fc ) to be expected at the first time from the computational model based on a difference between the second rotor position angle φίί ^^) and the third rotor position angle (p (t _k _ ₂ ), divided by a difference between the second time, t _k -i, and the third Time, t _k -2, multiplied by a difference from the first time t _k and the second time t _k -i based.

In particular, according to the calculation model of the computing _{device 14,} a sum of the above-mentioned difference between the determined second rotor position angle ((t _f ci) and the determined third rotor position angle (p (t) is to be expected as the rotor position _angle <p _m0 d (t _fc ) to be expected at the first time _k _ ₂ ) divided by a difference between the second time, t _k -i, and the third time, t _k . _2> multiplied by a difference from the first time, t _k , and the second time, t _k -i as the first addend, as well as the determined second

Rotor position angle φίί ^ ^) formed as a second summand.

That is, (p _mod (t _fc ) = <t _fc _i) + ^{φ (} ^ - ^{ι} "} ^ ⁽ ^ - ²⁾ (t _k -t _k _ _t ).) Thus, the signal will be given if

Fig. 3 is a schematic block diagram for explaining a

Control circuit 210 according to another embodiment of the present invention.

The control circuit 210 is a variant of the control circuit 10 and differs therefrom in the configuration of the computing device 214 of the control circuit 210. The computing device 214 of the control circuit 210 is configured such that the computing model of the computing device 214 is a kinematic model of a powertrain within a Luenberger

Includes observers. The powertrain is part of a vehicle that includes the rotor whose rotor attitude angle is to be determined and plausibility checked.

Fig. 4 is a schematic block diagram for explaining a

Control circuit 310 according to another embodiment of the present invention

Invention.

The control circuit 310 is a variant of the control circuit 10 and differs therefrom in the configuration of the computing means 314 of the control circuit 310. The computing means 314 is adapted to the expected rotor position _angle <p _m0 d (t _fc ) at the first time t _k with the aid of at least one sample from the past, that is the second, third etc. rotor position angle <p (t _k _ ₁ ), <p (t _k _ ₂ ) to investigate. The

Computing means 314 is adapted to use a state variable filter, in particular as explained below with reference to FIG. 8.

FIG. 5 shows a schematic flowchart for explaining a method for checking the plausibility of a rotor position angle according to still another

Embodiment of the present invention. For an explanation of

Designation of the different points in time _t.sub.k -.sub.i, _t.sub.k , _{t.sub.k +} i, etc., reference is made in particular to the explanations relating to FIG.

The method according to FIG. 5 is suitable in particular for carrying out by means of a control circuit according to the invention, in particular the control circuit 10, and according to all with respect to the invention

Control circuit, in particular the control circuits 10, 110, 210 and 310 variants described and training be adapted.

In a step S01, a first rotor position angle (p (t _f) is determined at a first time e. In a step S02 at least one second rotor position angle (p (t _k) at a second time t _k -i before the first time point e detected In a step S03, a rotor attitude angle <p _m0 d (t _fc ) to be expected at the first time point e is determined from a mathematical model using at least the second rotor position angle φίί ^^) the expected rotor position angle

(p _mod (t _fc ) and the determined first rotor position angle cp (£ _fc ), a

If the predetermined threshold value S is not exceeded, a signal 51 is output which indicates the determined first rotor position angle cp (£ _fc ) as plausible.

6 shows a schematic flowchart for explaining a method for checking the plausibility of a rotor position angle according to still another

Embodiment of the present invention. The method according to FIG. 6 is a variant of FIG

Method according to FIG. 5, which differs therefrom in step S03 'and in an additional step S05.

In step S05, a third rotor attitude angle (p (t _k _ ₂ ) at a third time t _k -2 is determined before the second time t _k -i. In step S03 ', the rotor attitude angle to be expected at the first time t _k becomes <p _m0 d (t _fc ) from the calculation model using the second rotor position angle φίί ^^) and the third rotor position angle (p (t _k _ ₂ ) determined.

The calculation model used in the method according to FIG. 6 is designed such that determining S03 'of the rotor position _angle <p _m0 d (t _fc ) to be expected at the first time from the _calculation model based on a difference between the second rotor position angle φίί ^^) and the third rotor attitude angle (p (t _k _ ₂ ) divided by a difference between the second timing, t _k -i, and the third timing, t _k . _2> multiplied by a difference from the first timing t _k and the second time t _k -i.

In particular, according to the calculation model of the computing _{device 14,} a sum of the above-mentioned difference between the determined second rotor position angle ((t _f ci) and the determined third rotor position angle (p (t) is to be expected as the rotor position _angle <p _m0 d (t _fc ) to be expected at the first time _k _ ₂ ), divided by a difference between the second time, tu, and the third time, t _k . _2> multiplied by a difference from the first time, t _k , and the second time, t _k -i as the first summand , as well as the determined second

Rotor position angle φίί ^ ^) formed as a second summand.

That is, (p _mod (t _fc ) = φίΐ ^ + ^{φ (} ^ - ^{φ (} ^ (t _k -t _k _ _t ).) Thus, the signal becomes

51 is output by the plausibility checker 16 if

tk-i -tk-2

FIG. 7 shows a schematic flowchart for explaining a method for checking the plausibility of a rotor position angle according to still another

Embodiment of the present invention. The method according to FIG. 7 is a variant of the

Method according to FIG. 5, which differs therefrom in the calculation model used in determining the time point to be expected at the first time t _k . In a step S03 ", which otherwise corresponds to step S03 from FIG. 6, a kinematic model of a drive train within a Luenberger observer is used as the mathematical model.

8 shows a schematic flowchart for explaining a method for plausibility checking of a rotor position angle according to another

Embodiment of the present invention.

The method according to FIG. 8 is a variant of FIG

5, which differs therefrom in step S03 '"In step S03'", at least the determined second rotor position angle φίί ^^) is filtered in a substep S31, preferably by means of a state variable filter, particularly preferably with a PTn Member of the nth order and / or based on state variables. Optionally, the determined first rotor position angle (p (t _k ) before further processing

be filtered accordingly. Preferably, each determined rotor position angle is filtered accordingly before its further processing. By filtering S31 of the determined second rotor position angle φ ^^), a filtered angle signal is generated based on the determined second rotor position angle φ ^^). In a sub-step S32, the expected rotor position _angle <p _m0 d (t _fc ) is determined at least from the generated filtered angle signal by means of the computing model at the first time t _k , approximately as in relation to _FIGS. 1 to 7

described, wherein instead of the determined second rotor position angle φ ^^) always the generated filtered angle signal is used. For example, in the method according to FIG. 2 and FIG. 6, the determined third can also be used

Rotor position angle (p (t _k _ ₂ ), if necessary, also every other determined rotor position angle, are filtered accordingly and replace a filtered angle signal in each case the determined rotor position angle.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but instead various ways modifiable. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention. For example, mathematical models have been described, each of which uses the last and / or the penultimate rotor position angle to check the plausibility of a rotor position angle to be determined. It is also conceivable, however, that even further temporally previously determined rotor position angles are used in the calculation model.

Claims

claims

1. Control circuit (10; 110; 210; 310) for checking the plausibility of a

Rotor position angle, with:

rotor position angle detection means (12) for determining a first rotor attitude angle, (p (t _fc ) at a first time, t _k , and at least one second rotor attitude angle, φίί ^^) at a second time, t _k -i the first time, t _k ;

a computing device (14; 114; 214; 314) for determining a rotor position _angle , <p _m0C f (tfc), to be expected at the first point in time, t _k , from one

Calculating model of the computing device (14; 114; 214; 314) using at least the second rotor position angle, φ ^^); and

a plausibility device (16) for outputting a signal (51) which plausibly indicates the determined first rotor position angle cp (£ _fc ) when an amount of a difference between the expected rotor position angle φ> _mod (t _fc ) and the determined first Rotor position angle cp (£ _fc ), one

does not exceed the predetermined threshold.

2. Control circuit (110, 210, 310) according to claim 1,

wherein the rotor position angle determining means (12) for determining a third rotor _{attitude angle} , φ ί _ίί _ ₂ ), at a third time, t _k . _2> before the second time, t _k -i is formed; and

wherein the computing means (114) for determining the rotor _{attitude angle} to be expected at the first time, t _k , <p _m0C f (tfc), from the calculation model using the second rotor attitude angle φίί ^^) and the third

_Rotor position _angle , φ ί _ίί _ ₂ ), is formed.

3. Control circuit (110) according to claim 2,

wherein the computational model of the computing device (114) is configured to determine the rotor attitude angle, ^> _mod (t _fc ) to be expected at the first time, from the computational model based on a difference between the second rotor attitude angle, φίί ^^), and the third rotor position angle, (p (t _k _ ₂ ), divided by a difference between the second time, t _k -i, and the third time, t _k -2, multiplied by a difference from the first time, t _k , and the second time, t _k -i.

4. Control circuit (210) according to claim 1 or 2,

wherein the computing model of the computing device (214) comprises a kinematic model of a powertrain within a Luenberger observer.

5. Control circuit (310) according to claim 1 or 2,

wherein the calculating means (314) is adapted to the first

_Timing , t _k , expected rotor _{attitude angle} , <p _m0C f (tfc), using a state variable filter and / or a phase locked loop to determine.

6. A method for plausibilizing a rotor attitude angle, comprising the steps of: determining (SOI) a first rotor attitude angle, ^ (t _fc ) ,, at a first time, t _k ;

Determining (S02) at least one second rotor position angle, φ ^^), at a second time, t _k -i, before the first time, t _k ;

Determining (S03; S03 '_;S03'; S03 ''') a rotor _{attitude angle} to be expected at the first time t _k , <p _m0C f (tfc), from a calculation model using at least the second rotor attitude angle, φ ^^); and

Outputting (S04) a signal (51) which corresponds to the determined first

Rotor position angle, ^ (t _fc ) "is plausibly indexed if an amount of a difference between the expected rotor position _angle , <p _m0C f (tfc), and the determined first rotor position angle, cp (£ _fc ), does not exceed a predetermined threshold.

7. The method according to claim 6, comprising the step:

Determining (S05) a third rotor attitude angle, (p (t _k _ ₂ ), to a third

Time, t _k . _2> before the second time, t _k -u

wherein determining (S03 ') the rotor _{posture angle} to be expected at the first time point, t _k , from the calculation model using the second rotor posture angle φ ^^, and the third rotor posture angle, (p (t _k _ ₂ ).

8. The method according to claim 7,

wherein the computational model is configured such that the determining (S03 ') of the rotor _{attitude angle} to be expected at the first time, t _k , <p _m0C f (tfc), from the computational model based on a difference between the second

Rotor attitude angle, φίί ^^), and the third rotor attitude angle, (p (t _k _ ₂ ) divided by a difference between the second timing, t _k -i, and the third timing, t _k, 2, multiplied by a difference the first time, t _k , and the second time, t _k -i.

9. The method according to claim 6 or 7,

wherein a kinematic model of a drive train within a Luenberger observer is used as the computer model.

10. The method according to claim 6 or 7,

wherein the rotor _{attitude angle, m m0} d (tfc), to be expected at the first time, t _k , is determined using a state variable filter and / or a phase locked loop.